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Jaeyoung-Lim / mavros_controllers

Aggressive trajectory tracking using mavros for PX4 enabled vehicles
BSD 3-Clause "New" or "Revised" License
400 stars 164 forks source link

Invalid commands #208

Open brunopinto900 opened 2 years ago

brunopinto900 commented 2 years ago

Installed everything and i can launch the simulation with: roslaunch geometric_controller sitl_trajectory_track_circle.launch. I tried two FCU URL: 1) the default local host ; 2) my WSL2 host address. Gazebo and RViz opens. I can see the 3d reference trajectory moving in RViz. My specs are: Ubuntu 20, WSL2

However the drone doesn't take off. This is the output when i run

roslaunch geometric_controller sitl_trajectory_track_circle.launch

... logging to /home/bruno/.ros/log/c7e094ca-97c7-11ec-b2d0-00155df83b09/roslaunch-DESKTOP-TSTEU1E-10317.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://DESKTOP-TSTEU1E:44647/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /geometric_controller/Kp_x: 10.0
 * /geometric_controller/Kp_y: 10.0
 * /geometric_controller/Kp_z: 20.0
 * /geometric_controller/Kv_x: 5.0
 * /geometric_controller/Kv_y: 5.0
 * /geometric_controller/Kv_z: 10.0
 * /geometric_controller/attctrl_constant: 0.3
 * /geometric_controller/ctrl_mode: 2
 * /geometric_controller/enable_gazebo_state: True
 * /geometric_controller/enable_sim: True
 * /geometric_controller/mav_name: iris
 * /geometric_controller/max_acc: 10.0
 * /geometric_controller/normalizedthrust_constant: 0.06
 * /geometric_controller/normalizedthrust_offset: 0.1
 * /mavros/camera/frame_id: base_link
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 1.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 10.0
 * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/laser_1_sub/id: 3
 * /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/laser_1_sub/subscriber: True
 * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /mavros/distance_sensor/lidarlite_pub/id: 1
 * /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0
 * /mavros/distance_sensor/sonar_1_sub/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
 * /mavros/fake_gps/eph: 2.0
 * /mavros/fake_gps/epv: 2.0
 * /mavros/fake_gps/fix_type: 3
 * /mavros/fake_gps/geo_origin/alt: 408.0
 * /mavros/fake_gps/geo_origin/lat: 47.3667
 * /mavros/fake_gps/geo_origin/lon: 8.55
 * /mavros/fake_gps/gps_rate: 5.0
 * /mavros/fake_gps/mocap_transform: True
 * /mavros/fake_gps/satellites_visible: 5
 * /mavros/fake_gps/tf/child_frame_id: fix
 * /mavros/fake_gps/tf/frame_id: map
 * /mavros/fake_gps/tf/listen: False
 * /mavros/fake_gps/tf/rate_limit: 10.0
 * /mavros/fake_gps/tf/send: False
 * /mavros/fake_gps/use_mocap: True
 * /mavros/fake_gps/use_vision: False
 * /mavros/fcu_protocol: v2.0
 * /mavros/fcu_url: udp://:14540@172....
 * /mavros/gcs_url: 
 * /mavros/global_position/child_frame_id: base_link
 * /mavros/global_position/frame_id: map
 * /mavros/global_position/gps_uere: 1.0
 * /mavros/global_position/rot_covariance: 99999.0
 * /mavros/global_position/tf/child_frame_id: base_link
 * /mavros/global_position/tf/frame_id: map
 * /mavros/global_position/tf/global_frame_id: earth
 * /mavros/global_position/tf/send: False
 * /mavros/global_position/use_relative_alt: True
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /mavros/imu/frame_id: base_link
 * /mavros/imu/linear_acceleration_stdev: 0.0003
 * /mavros/imu/magnetic_stdev: 0.0
 * /mavros/imu/orientation_stdev: 1.0
 * /mavros/landing_target/camera/fov_x: 2.0071286398
 * /mavros/landing_target/camera/fov_y: 2.0071286398
 * /mavros/landing_target/image/height: 480
 * /mavros/landing_target/image/width: 640
 * /mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /mavros/landing_target/listen_lt: False
 * /mavros/landing_target/mav_frame: LOCAL_NED
 * /mavros/landing_target/target_size/x: 0.3
 * /mavros/landing_target/target_size/y: 0.3
 * /mavros/landing_target/tf/child_frame_id: camera_center
 * /mavros/landing_target/tf/frame_id: landing_target
 * /mavros/landing_target/tf/listen: False
 * /mavros/landing_target/tf/rate_limit: 10.0
 * /mavros/landing_target/tf/send: True
 * /mavros/local_position/frame_id: map
 * /mavros/local_position/tf/child_frame_id: base_link
 * /mavros/local_position/tf/frame_id: map
 * /mavros/local_position/tf/send: False
 * /mavros/local_position/tf/send_fcu: False
 * /mavros/mission/pull_after_gcs: True
 * /mavros/mission/use_mission_item_int: True
 * /mavros/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/odometry/fcu/odom_child_id_des: base_link
 * /mavros/odometry/fcu/odom_parent_id_des: map
 * /mavros/plugin_blacklist: ['safety_area', '...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.118682
 * /mavros/px4flow/ranger_max_range: 5.0
 * /mavros/px4flow/ranger_min_range: 0.3
 * /mavros/safety_area/p1/x: 1.0
 * /mavros/safety_area/p1/y: 1.0
 * /mavros/safety_area/p1/z: 1.0
 * /mavros/safety_area/p2/x: -1.0
 * /mavros/safety_area/p2/y: -1.0
 * /mavros/safety_area/p2/z: -1.0
 * /mavros/setpoint_accel/send_force: False
 * /mavros/setpoint_attitude/reverse_thrust: False
 * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /mavros/setpoint_attitude/tf/frame_id: map
 * /mavros/setpoint_attitude/tf/listen: False
 * /mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /mavros/setpoint_attitude/use_quaternion: False
 * /mavros/setpoint_position/mav_frame: LOCAL_NED
 * /mavros/setpoint_position/tf/child_frame_id: target_position
 * /mavros/setpoint_position/tf/frame_id: map
 * /mavros/setpoint_position/tf/listen: False
 * /mavros/setpoint_position/tf/rate_limit: 50.0
 * /mavros/setpoint_raw/thrust_scaling: 1.0
 * /mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /mavros/startup_px4_usb_quirk: True
 * /mavros/sys/disable_diag: False
 * /mavros/sys/min_voltage: 10.0
 * /mavros/target_component_id: 1
 * /mavros/target_system_id: 1
 * /mavros/tdr_radio/low_rssi: 40
 * /mavros/time/time_ref_source: fcu
 * /mavros/time/timesync_avg_alpha: 0.6
 * /mavros/time/timesync_mode: MAVLINK
 * /mavros/vibration/frame_id: base_link
 * /mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /mavros/vision_pose/tf/frame_id: odom
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: True
 * /mavros/vision_speed/twist_cov: True
 * /mavros/wheel_odometry/child_frame_id: base_link
 * /mavros/wheel_odometry/count: 2
 * /mavros/wheel_odometry/frame_id: odom
 * /mavros/wheel_odometry/send_raw: True
 * /mavros/wheel_odometry/send_twist: False
 * /mavros/wheel_odometry/tf/child_frame_id: base_link
 * /mavros/wheel_odometry/tf/frame_id: odom
 * /mavros/wheel_odometry/tf/send: False
 * /mavros/wheel_odometry/use_rpm: False
 * /mavros/wheel_odometry/vel_error: 0.1
 * /mavros/wheel_odometry/wheel0/radius: 0.05
 * /mavros/wheel_odometry/wheel0/x: 0.0
 * /mavros/wheel_odometry/wheel0/y: -0.15
 * /mavros/wheel_odometry/wheel1/radius: 0.05
 * /mavros/wheel_odometry/wheel1/x: 0.0
 * /mavros/wheel_odometry/wheel1/y: 0.15
 * /rosdistro: noetic
 * /rosversion: 1.15.14
 * /trajectory_publisher/initpos_z: 2.0
 * /trajectory_publisher/reference_type: 2
 * /trajectory_publisher/shape_omega: 1.2
 * /trajectory_publisher/trajectory_type: 1
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    geometric_controller (geometric_controller/geometric_controller_node)
    mavros (mavros/mavros_node)
    rqt_reconfigure (rqt_reconfigure/rqt_reconfigure)
    rviz (rviz/rviz)
    sitl (px4/px4)
    trajectory_publisher (trajectory_publisher/trajectory_publisher)
    vehicle_spawn_DESKTOP_TSTEU1E_10317_6400347660657273012 (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311

process[geometric_controller-1]: started with pid [10332]
process[trajectory_publisher-2]: started with pid [10333]
process[rqt_reconfigure-3]: started with pid [10334]
process[mavros-4]: started with pid [10343]
[ INFO] [1645965233.229702800]: Reconfigure request : max_acc = 8.00 
process[sitl-5]: started with pid [10354]
Creating symlink /home/bruno/PX4-Autopilot/build/px4_sitl_default/etc -> /home/bruno/.ros/etc

______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
[ INFO] [1645965233.241636000]: FCU URL: udp://:14540@172.25.48.1:14557
[ INFO] [1645965233.243120600]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1645965233.243237100]: udp0: Remote address: 172.25.48.1:14557
[ INFO] [1645965233.243340200]: GCS bridge disabled
process[gazebo-6]: started with pid [10366]
INFO  [init] found model autostart file as SYS_AUTOSTART=10016
INFO  [param] selected parameter default file eeprom/parameters_10016
INFO  [parameters] BSON document size 333 bytes, decoded 333 bytes (INT32:14, FLOAT:3)
[param] Loaded: eeprom/parameters_10016
process[gazebo_gui-7]: started with pid [10378]
[ INFO] [1645965233.250439000]: Plugin 3dr_radio loaded
process[vehicle_spawn_DESKTOP_TSTEU1E_10317_6400347660657273012-8]: started with pid [10388]
[ INFO] [1645965233.251823500]: Plugin 3dr_radio initialized
[ INFO] [1645965233.251946300]: Plugin actuator_control loaded
[ INFO] [1645965233.254470400]: Plugin actuator_control initialized
process[rviz-9]: started with pid [10396]
[ INFO] [1645965233.258862800]: Plugin adsb loaded
[ INFO] [1645965233.261972700]: Plugin adsb initialized
[ INFO] [1645965233.262091400]: Plugin altitude loaded
[ INFO] [1645965233.262940900]: Plugin altitude initialized
[ INFO] [1645965233.263092500]: Plugin cam_imu_sync loaded
[ INFO] [1645965233.263625900]: Plugin cam_imu_sync initialized
[ INFO] [1645965233.263777500]: Plugin camera loaded
[ INFO] [1645965233.264458500]: Plugin camera initialized
[ INFO] [1645965233.264644300]: Plugin command loaded
[ INFO] [1645965233.270508600]: Plugin command initialized
[ INFO] [1645965233.270649700]: Plugin companion_process_status loaded
[ INFO] [1645965233.273637900]: Plugin companion_process_status initialized
[ INFO] [1645965233.273741900]: Plugin debug_value loaded
[ INFO] [1645965233.277874400]: Plugin debug_value initialized
[ INFO] [1645965233.277979600]: Plugin distance_sensor blacklisted
[ INFO] [1645965233.278093700]: Plugin esc_status loaded
[ INFO] [1645965233.278920700]: Plugin esc_status initialized
[ INFO] [1645965233.279015900]: Plugin esc_telemetry loaded
[ INFO] [1645965233.279442300]: Plugin esc_telemetry initialized
[ INFO] [1645965233.279560100]: Plugin fake_gps loaded
[ INFO] [1645965233.293253800]: Plugin fake_gps initialized
[ INFO] [1645965233.293482400]: Plugin ftp loaded
[ INFO] [1645965233.298447800]: Plugin ftp initialized
[ INFO] [1645965233.298606200]: Plugin geofence loaded
[ INFO] [1645965233.301113100]: Plugin geofence initialized
[ INFO] [1645965233.301244300]: Plugin global_position loaded
[ INFO] [1645965233.313927700]: Plugin global_position initialized
[ INFO] [1645965233.314070200]: Plugin gps_input loaded
[ INFO] [1645965233.315977600]: Plugin gps_input initialized
[ INFO] [1645965233.316092300]: Plugin gps_rtk loaded
[ INFO] [1645965233.318121600]: Plugin gps_rtk initialized
[ INFO] [1645965233.318225700]: Plugin gps_status loaded
[ INFO] [1645965233.320215800]: Plugin gps_status initialized
[ INFO] [1645965233.320390700]: Plugin hil loaded
[ INFO] [1645965233.331878600]: Plugin hil initialized
INFO  [dataman] data manager file './dataman' size is 7866640 bytes
[ INFO] [1645965233.332056200]: Plugin home_position loaded
[ INFO] [1645965233.334635900]: Plugin home_position initialized
[ INFO] [1645965233.334854800]: Plugin imu loaded
[ INFO] [1645965233.341821800]: Plugin imu initialized
[ INFO] [1645965233.341952600]: Plugin landing_target loaded
[ INFO] [1645965233.353294000]: Plugin landing_target initialized
[ INFO] [1645965233.353420500]: Plugin local_position loaded
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-bruno'
[ INFO] [1645965233.359118500]: Plugin local_position initialized
[ INFO] [1645965233.359267800]: Plugin log_transfer loaded
PX4 SIM HOST: localhost
[ INFO] [1645965233.363199300]: Plugin log_transfer initialized
[ INFO] [1645965233.363356200]: Plugin mag_calibration_status loaded
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
[ INFO] [1645965233.364728500]: Plugin mag_calibration_status initialized
[ INFO] [1645965233.364886200]: Plugin manual_control loaded
[ INFO] [1645965233.368032400]: Plugin manual_control initialized
[ INFO] [1645965233.368184900]: Plugin mocap_pose_estimate loaded
[ INFO] [1645965233.370709700]: Plugin mocap_pose_estimate initialized
[ INFO] [1645965233.370866200]: Plugin mount_control loaded
[ INFO] [1645965233.373461100]: Plugin mount_control initialized
[ INFO] [1645965233.373615300]: Plugin nav_controller_output loaded
[ INFO] [1645965233.374025000]: Plugin nav_controller_output initialized
[ INFO] [1645965233.374137900]: Plugin obstacle_distance loaded
[ INFO] [1645965233.376124300]: Plugin obstacle_distance initialized
[ INFO] [1645965233.376269100]: Plugin odom loaded
[ INFO] [1645965233.380059500]: Plugin odom initialized
[ INFO] [1645965233.380188000]: Plugin onboard_computer_status loaded
[ INFO] [1645965233.382126700]: Plugin onboard_computer_status initialized
[ INFO] [1645965233.382284100]: Plugin param loaded
[ INFO] [1645965233.384349600]: Plugin param initialized
[ INFO] [1645965233.384457500]: Plugin play_tune loaded
[ INFO] [1645965233.386092800]: Plugin play_tune initialized
[ INFO] [1645965233.386210300]: Plugin px4flow loaded
[ INFO] [1645965233.390959400]: Plugin px4flow initialized
[ INFO] [1645965233.391147400]: Plugin rallypoint loaded
[ INFO] [1645965233.393450900]: Plugin rallypoint initialized
[ INFO] [1645965233.393532600]: Plugin rangefinder blacklisted
[ INFO] [1645965233.393669500]: Plugin rc_io loaded
[ INFO] [1645965233.396505300]: Plugin rc_io initialized
[ INFO] [1645965233.396634400]: Plugin safety_area blacklisted
[ INFO] [1645965233.396786500]: Plugin setpoint_accel loaded
[ INFO] [1645965233.399290600]: Plugin setpoint_accel initialized
[ INFO] [1645965233.399425100]: Plugin setpoint_attitude loaded
[ INFO] [1645965233.405804600]: Plugin setpoint_attitude initialized
[ INFO] [1645965233.405937700]: Plugin setpoint_position loaded
[ INFO] [1645965233.420647300]: Plugin setpoint_position initialized
[ INFO] [1645965233.420793100]: Plugin setpoint_raw loaded
[ INFO] [1645965233.429010900]: Plugin setpoint_raw initialized
[ INFO] [1645965233.429162200]: Plugin setpoint_trajectory loaded
[ INFO] [1645965233.434011500]: Plugin setpoint_trajectory initialized
[ INFO] [1645965233.434156900]: Plugin setpoint_velocity loaded
[ INFO] [1645965233.438065500]: Plugin setpoint_velocity initialized
[ INFO] [1645965233.438256400]: Plugin sys_status loaded
[ INFO] [1645965233.444504800]: Plugin sys_status initialized
[ INFO] [1645965233.444641200]: Plugin sys_time loaded
[ INFO] [1645965233.447902900]: TM: Timesync mode: MAVLINK
[ INFO] [1645965233.448377500]: TM: Not publishing sim time
[ INFO] [1645965233.449618000]: Plugin sys_time initialized
[ INFO] [1645965233.449744600]: Plugin terrain loaded
[ INFO] [1645965233.450267600]: Plugin terrain initialized
[ INFO] [1645965233.450363900]: Plugin trajectory loaded
[ INFO] [1645965233.454421500]: Plugin trajectory initialized
[ INFO] [1645965233.454573100]: Plugin tunnel loaded
[ INFO] [1645965233.456787900]: Plugin tunnel initialized
[ INFO] [1645965233.456954400]: Plugin vfr_hud loaded
[ INFO] [1645965233.457429200]: Plugin vfr_hud initialized
[ INFO] [1645965233.457483600]: Plugin vibration blacklisted
[ INFO] [1645965233.457586100]: Plugin vision_pose_estimate loaded
[ INFO] [1645965233.463547400]: Plugin vision_pose_estimate initialized
[ INFO] [1645965233.463664300]: Plugin vision_speed_estimate loaded
[ INFO] [1645965233.466301700]: Plugin vision_speed_estimate initialized
[ INFO] [1645965233.466436300]: Plugin waypoint loaded
[ INFO] [1645965233.469614300]: Plugin waypoint initialized
[ INFO] [1645965233.469695100]: Plugin wheel_odometry blacklisted
[ INFO] [1645965233.469827300]: Plugin wind_estimation loaded
[ INFO] [1645965233.470457400]: Plugin wind_estimation initialized
[ INFO] [1645965233.470595500]: Autostarting mavlink via USB on PX4
[ INFO] [1645965233.470736100]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1645965233.470787600]: Built-in MAVLink package version: 2022.2.2
[ INFO] [1645965233.470812700]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1645965233.470857200]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[INFO] [1645965233.532540, 0.000000]: Loading model XML from file /home/bruno/PX4-Autopilot/Tools/sitl_gazebo/models/iris/iris.sdf
[INFO] [1645965233.535164, 0.000000]: Waiting for service /gazebo/spawn_sdf_model
[ INFO] [1645965233.794207400]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1645965233.795674100]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1645965233.850248600]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1645965233.851460200]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-bruno'
[ INFO] [1645965234.189361800]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1645965234.221156500, 0.016000000]: Physics dynamic reconfigure ready.
[ INFO] [1645965234.417426600, 0.208000000]: Waiting for home pose...
[INFO] [1645965234.440752, 0.228000]: Calling service /gazebo/spawn_sdf_model
[INFO] [1645965234.696588, 0.360000]: Spawn status: SpawnModel: Successfully spawned entity
INFO  [simulator] Simulator connected on TCP port 4560.
INFO  [commander] LED: open /dev/led0 failed (22)
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [init] setting PWM_AUX_OUT none
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO  [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
[ INFO] [1645965235.101087100, 0.592000000]: udp0: Remote address: 127.0.0.1:14580
[ INFO] [1645965235.101230600, 0.592000000]: IMU: High resolution IMU detected!
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2022-02-27/12_33_55.ulg   
INFO  [logger] Opened full log file: ./log/2022-02-27/12_33_55.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [px4] Startup script returned successfully
pxh> INFO  [mavlink] partner IP: 127.0.0.1
[vehicle_spawn_DESKTOP_TSTEU1E_10317_6400347660657273012-8] process has finished cleanly
log file: /home/bruno/.ros/log/c7e094ca-97c7-11ec-b2d0-00155df83b09/vehicle_spawn_DESKTOP_TSTEU1E_10317_6400347660657273012-8*.log
[ INFO] [1645965236.086606500, 1.572000000]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1645965236.088055000, 1.572000000]: IMU: High resolution IMU detected!
[ INFO] [1645965237.095210800, 2.580000000]: GF: Using MISSION_ITEM_INT
[ INFO] [1645965237.095309100, 2.580000000]: RP: Using MISSION_ITEM_INT
[ INFO] [1645965237.095384200, 2.580000000]: WP: Using MISSION_ITEM_INT
[ INFO] [1645965237.095453900, 2.580000000]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1645965237.095511000, 2.580000000]: VER: 1.1: Flight software:     010d0040 (11f617ca9b000000)
[ INFO] [1645965237.095561500, 2.580000000]: VER: 1.1: Middleware software: 010d0040 (11f617ca9b000000)
[ INFO] [1645965237.095609500, 2.580000000]: VER: 1.1: OS software:         050a10ff (0000000000000000)
[ INFO] [1645965237.095657200, 2.580000000]: VER: 1.1: Board hardware:      00000001
[ INFO] [1645965237.095704700, 2.580000000]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1645965237.095751700, 2.580000000]: VER: 1.1: UID:                 4954414c44494e4f
[ INFO] [1645965238.235121600, 3.720000000]: IMU: Attitude quaternion IMU detected!
[ INFO] [1645965239.727484700, 5.208000000]: Offboard enabled
INFO  [tone_alarm] notify negative
[ INFO] [1645965240.726436700, 6.208000000]: Home pose initialized to: position: 
  x: 0.00652412
  y: -0.00103822
  z: 0.21131
orientation: 
  x: 0.00865649
  y: -0.0113014
  z: 0.0409041
  w: -0.999062

[ INFO] [1645965241.226158500, 6.708000000]: Got pose! Drone Ready to be armed.
INFO  [tone_alarm] home set
WARN  [mc_pos_control] invalid setpoints
INFO  [tone_alarm] notify negative
[ INFO] [1645965245.529021700, 11.000000000]: Offboard enabled
INFO  [commander] Failsafe mode activated   
[ WARN] [1645965245.538899000, 11.012000000]: CMD: Unexpected command 176, result 0
INFO  [navigator] RTL HOME activated    
INFO  [commander] Failsafe mode deactivated 
[ INFO] [1645965251.105617600, 16.572000000]: RP: mission received
[ INFO] [1645965251.105842000, 16.572000000]: GF: mission received
[ INFO] [1645965251.105908200, 16.572000000]: WP: mission received
[ INFO] [1645965251.531747000, 17.000000000]: Offboard enabled
INFO  [commander] Failsafe mode activated   
INFO  [commander] Failsafe mode deactivated 
[ INFO] [1645965257.539642100, 23.000000000]: Offboard enabled
INFO  [commander] Failsafe mode activated   
[ WARN] [1645965257.547863300, 23.012000000]: CMD: Unexpected command 176, result 0
INFO  [commander] Failsafe mode deactivated
Jaeyoung-Lim commented 2 years ago

@brunopinto900 In the logs you can see that Failsafe is being enabled: 

INFO  [commander] Failsafe mode activated   
INFO  [commander] Failsafe mode deactivated

It's probably because you don't have QGC enabled and you didn't disable the failsafe

brunopinto900 commented 2 years ago

Thank you. How do i disable the failsafe? One things, do i need special modifications to run the code on WSL2?

Jaeyoung-Lim commented 2 years ago

Thank you. How do i disable the failsafe?

@brunopinto900 Have you tried running QGC on parallel to see if this is indeed the problem? You need to disable the data link failsafe that is a parameter on the FMU side (probably with QGC)

One things, do i need special modifications to run the code on WSL2?

I have never used WSL2 so I have no idea

brunopinto900 commented 2 years ago

I will try to run the QGC and let you know.

brunopinto900 commented 2 years ago

@Jaeyoung-Lim QGC didn't solved the issue. I changed branch in PX4 Firmware: git checkout v1.12.3. Its working now.

Jaeyoung-Lim commented 2 years ago

@brunopinto900 I don't think that is a solution but a workaround. - I believe v1.12.3 has a slightly different offboard infrastructure on the fmu side.

brunopinto900 commented 2 years ago

Its not a solution, i am aware, but right now i just want to implement a project and when the time comes i can come back to this issue.